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<div class="title">gfpfh.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2009, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id: gfpfh.h 1423 2011-06-21 09:51:32Z bouffa $</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_GFPFH_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_GFPFH_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/features/feature.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>LT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classpcl_1_1_g_f_p_f_h_estimation.html">   65</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html">GFPFHEstimation</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature_from_labels.html">FeatureFromLabels</a>&lt;PointInT, PointLT, PointOutT&gt;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;GFPFHEstimation&lt;PointInT, PointLT, PointOutT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const GFPFHEstimation&lt;PointInT, PointLT, PointOutT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_from_labels.html">FeatureFromLabels&lt;PointInT, PointLT, PointOutT&gt;::feature_name_</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_from_labels.html">FeatureFromLabels&lt;PointInT, PointLT, PointOutT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_from_labels.html">FeatureFromLabels&lt;PointInT, PointLT, PointOutT&gt;::indices_</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_from_labels.html">FeatureFromLabels&lt;PointInT, PointLT, PointOutT&gt;::k_</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_from_labels.html">FeatureFromLabels&lt;PointInT, PointLT, PointOutT&gt;::search_parameter_</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_from_labels.html">FeatureFromLabels&lt;PointInT, PointLT, PointOutT&gt;::surface_</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_from_labels.html">FeatureFromLabels&lt;PointInT, PointLT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_from_labels.html">FeatureFromLabels&lt;PointInT, PointLT, PointOutT&gt;::labels_</a>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudOut</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudIn</a>  <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classpcl_1_1_g_f_p_f_h_estimation.html#ad8022e150a41164f169149145a150923">   84</a></span>&#160;      <a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html#ad8022e150a41164f169149145a150923">GFPFHEstimation</a> () : </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html#a8edd2c920684928c831d527a3ff04121">octree_leaf_size_</a> (0.01),</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html#a5cff9601b53d009178015e3054f7ca99">number_of_classes_</a> (16),</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html#a75513dc1c3369a855f6aa4a7c6e3b445">descriptor_size_</a> (PointOutT::<a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html#a1e850641208c2ffec2350814a6977d8e">descriptorSize</a> ())</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      {</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a> = <span class="stringliteral">&quot;GFPFHEstimation&quot;</span>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      }</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classpcl_1_1_g_f_p_f_h_estimation.html#af85aca1a1bccc40396bd8f931c1cb05f">   95</a></span>&#160;      <a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html#af85aca1a1bccc40396bd8f931c1cb05f">setOctreeLeafSize</a> (<span class="keywordtype">double</span> size) { <a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html#a8edd2c920684928c831d527a3ff04121">octree_leaf_size_</a> = size; }</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classpcl_1_1_g_f_p_f_h_estimation.html#afaf9aeee369296f62260178386cfcc11">   99</a></span>&#160;      <a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html#afaf9aeee369296f62260178386cfcc11">getOctreeLeafSize</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html#a8edd2c920684928c831d527a3ff04121">octree_leaf_size_</a>); }</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="keyword">inline</span> uint32_t</div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classpcl_1_1_g_f_p_f_h_estimation.html#a443014119b81e984b5a4bf593c76aead">  103</a></span>&#160;      <a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html#a443014119b81e984b5a4bf593c76aead">emptyLabel</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> 0; }</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keyword">inline</span> uint32_t</div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1_g_f_p_f_h_estimation.html#af6e8bbe13eea98d0facb65ea88d4ae46">  107</a></span>&#160;      <a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html#af6e8bbe13eea98d0facb65ea88d4ae46">getNumberOfClasses</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html#a5cff9601b53d009178015e3054f7ca99">number_of_classes_</a>; }</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classpcl_1_1_g_f_p_f_h_estimation.html#a63b2f25d3e0e257db66f92b2293c32e1">  113</a></span>&#160;      <a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html#a63b2f25d3e0e257db66f92b2293c32e1">setNumberOfClasses</a> (uint32_t n) { <a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html#a5cff9601b53d009178015e3054f7ca99">number_of_classes_</a> = n; }</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classpcl_1_1_g_f_p_f_h_estimation.html#a1e850641208c2ffec2350814a6977d8e">  117</a></span>&#160;      <a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html#a1e850641208c2ffec2350814a6977d8e">descriptorSize</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html#a75513dc1c3369a855f6aa4a7c6e3b445">descriptor_size_</a>; }</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html#ab0839cd3f7500a485ff388aa139cbfda">compute</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html#a6c53dd19045eaef23dfedfaf2f316fa2">computeFeature</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      uint32_t</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      <a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html#a94060e4d7270b442b4f6f533387aec32">getDominantLabel</a> (<span class="keyword">const</span> std::vector&lt;int&gt;&amp; indices);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html#a3ed7f3aadf9ff3c6d613b8def34fd70b">computeTransitionHistograms</a> (<span class="keyword">const</span> std::vector&lt; std::vector&lt;int&gt; &gt;&amp; label_histograms,</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;                                        std::vector&lt; std::vector&lt;int&gt; &gt;&amp; transition_histograms);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html#a1fbe1fa19fb6a76f5e55ed16e6a3fb6f">computeDistancesToMean</a> (<span class="keyword">const</span> std::vector&lt; std::vector&lt;int&gt; &gt;&amp; transition_histograms,</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;                              std::vector&lt;float&gt;&amp; distances);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      <a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html#ad41dae97dfa0534c0cbfa1bcec63a71b">computeHIKDistance</a> (<span class="keyword">const</span> std::vector&lt;int&gt;&amp; histogram,</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;                          <span class="keyword">const</span> std::vector&lt;float&gt;&amp; mean_histogram);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html#ae08b3ca8f6ef55dedc2b19ac983eeb0c">computeDistanceHistogram</a> (<span class="keyword">const</span> std::vector&lt;float&gt;&amp; distances,</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;                                std::vector&lt;float&gt;&amp; histogram);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html#acae1d3e7ab2972be16b654f112d2ee68">computeMeanHistogram</a> (<span class="keyword">const</span> std::vector&lt; std::vector&lt;int&gt; &gt;&amp; histograms,</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                            std::vector&lt;float&gt;&amp; mean_histogram);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00165"></a><span class="lineno"><a class="line" href="classpcl_1_1_g_f_p_f_h_estimation.html#a8edd2c920684928c831d527a3ff04121">  165</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html#a8edd2c920684928c831d527a3ff04121">octree_leaf_size_</a>;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno"><a class="line" href="classpcl_1_1_g_f_p_f_h_estimation.html#a5cff9601b53d009178015e3054f7ca99">  168</a></span>&#160;      uint32_t <a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html#a5cff9601b53d009178015e3054f7ca99">number_of_classes_</a>;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="classpcl_1_1_g_f_p_f_h_estimation.html#a75513dc1c3369a855f6aa4a7c6e3b445">  171</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_g_f_p_f_h_estimation.html#a75513dc1c3369a855f6aa4a7c6e3b445">descriptor_size_</a>;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;   };</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;}</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/gfpfh.hpp&gt;</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_GFPFH_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_labels_html"><div class="ttname"><a href="classpcl_1_1_feature_from_labels.html">pcl::FeatureFromLabels</a></div><div class="ttdef"><b>Definition:</b> feature.h:369</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a54032b79551164878ff59ed93b5c1dc5"><div class="ttname"><a href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">pcl::Feature::feature_name_</a></div><div class="ttdeci">std::string feature_name_</div><div class="ttdoc">The feature name.</div><div class="ttdef"><b>Definition:</b> feature.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1_g_f_p_f_h_estimation_html"><div class="ttname"><a href="classpcl_1_1_g_f_p_f_h_estimation.html">pcl::GFPFHEstimation</a></div><div class="ttdoc">GFPFHEstimation estimates the Global Fast Point Feature Histogram (GFPFH) descriptor for a given poin...</div><div class="ttdef"><b>Definition:</b> gfpfh.h:66</div></div>
<div class="ttc" id="aclasspcl_1_1_g_f_p_f_h_estimation_html_a1e850641208c2ffec2350814a6977d8e"><div class="ttname"><a href="classpcl_1_1_g_f_p_f_h_estimation.html#a1e850641208c2ffec2350814a6977d8e">pcl::GFPFHEstimation::descriptorSize</a></div><div class="ttdeci">int descriptorSize() const</div><div class="ttdoc">Return the size of the descriptor.</div><div class="ttdef"><b>Definition:</b> gfpfh.h:117</div></div>
<div class="ttc" id="aclasspcl_1_1_g_f_p_f_h_estimation_html_a1fbe1fa19fb6a76f5e55ed16e6a3fb6f"><div class="ttname"><a href="classpcl_1_1_g_f_p_f_h_estimation.html#a1fbe1fa19fb6a76f5e55ed16e6a3fb6f">pcl::GFPFHEstimation::computeDistancesToMean</a></div><div class="ttdeci">void computeDistancesToMean(const std::vector&lt; std::vector&lt; int &gt; &gt; &amp;transition_histograms, std::vector&lt; float &gt; &amp;distances)</div><div class="ttdoc">Compute the distance of each transition histogram to the mean.</div><div class="ttdef"><b>Definition:</b> gfpfh.hpp:179</div></div>
<div class="ttc" id="aclasspcl_1_1_g_f_p_f_h_estimation_html_a3ed7f3aadf9ff3c6d613b8def34fd70b"><div class="ttname"><a href="classpcl_1_1_g_f_p_f_h_estimation.html#a3ed7f3aadf9ff3c6d613b8def34fd70b">pcl::GFPFHEstimation::computeTransitionHistograms</a></div><div class="ttdeci">void computeTransitionHistograms(const std::vector&lt; std::vector&lt; int &gt; &gt; &amp;label_histograms, std::vector&lt; std::vector&lt; int &gt; &gt; &amp;transition_histograms)</div><div class="ttdoc">Compute the fixed-length histograms of transitions.</div><div class="ttdef"><b>Definition:</b> gfpfh.hpp:138</div></div>
<div class="ttc" id="aclasspcl_1_1_g_f_p_f_h_estimation_html_a443014119b81e984b5a4bf593c76aead"><div class="ttname"><a href="classpcl_1_1_g_f_p_f_h_estimation.html#a443014119b81e984b5a4bf593c76aead">pcl::GFPFHEstimation::emptyLabel</a></div><div class="ttdeci">uint32_t emptyLabel() const</div><div class="ttdoc">Return the empty label value.</div><div class="ttdef"><b>Definition:</b> gfpfh.h:103</div></div>
<div class="ttc" id="aclasspcl_1_1_g_f_p_f_h_estimation_html_a5cff9601b53d009178015e3054f7ca99"><div class="ttname"><a href="classpcl_1_1_g_f_p_f_h_estimation.html#a5cff9601b53d009178015e3054f7ca99">pcl::GFPFHEstimation::number_of_classes_</a></div><div class="ttdeci">uint32_t number_of_classes_</div><div class="ttdoc">Number of possible classes/labels.</div><div class="ttdef"><b>Definition:</b> gfpfh.h:168</div></div>
<div class="ttc" id="aclasspcl_1_1_g_f_p_f_h_estimation_html_a63b2f25d3e0e257db66f92b2293c32e1"><div class="ttname"><a href="classpcl_1_1_g_f_p_f_h_estimation.html#a63b2f25d3e0e257db66f92b2293c32e1">pcl::GFPFHEstimation::setNumberOfClasses</a></div><div class="ttdeci">void setNumberOfClasses(uint32_t n)</div><div class="ttdoc">Set the number of different classes.</div><div class="ttdef"><b>Definition:</b> gfpfh.h:113</div></div>
<div class="ttc" id="aclasspcl_1_1_g_f_p_f_h_estimation_html_a6c53dd19045eaef23dfedfaf2f316fa2"><div class="ttname"><a href="classpcl_1_1_g_f_p_f_h_estimation.html#a6c53dd19045eaef23dfedfaf2f316fa2">pcl::GFPFHEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">Estimate the Point Feature Histograms (PFH) descriptors at a set of points given by &lt;setInputCloud ()...</div><div class="ttdef"><b>Definition:</b> gfpfh.hpp:80</div></div>
<div class="ttc" id="aclasspcl_1_1_g_f_p_f_h_estimation_html_a75513dc1c3369a855f6aa4a7c6e3b445"><div class="ttname"><a href="classpcl_1_1_g_f_p_f_h_estimation.html#a75513dc1c3369a855f6aa4a7c6e3b445">pcl::GFPFHEstimation::descriptor_size_</a></div><div class="ttdeci">int descriptor_size_</div><div class="ttdoc">Dimension of the descriptors.</div><div class="ttdef"><b>Definition:</b> gfpfh.h:171</div></div>
<div class="ttc" id="aclasspcl_1_1_g_f_p_f_h_estimation_html_a8edd2c920684928c831d527a3ff04121"><div class="ttname"><a href="classpcl_1_1_g_f_p_f_h_estimation.html#a8edd2c920684928c831d527a3ff04121">pcl::GFPFHEstimation::octree_leaf_size_</a></div><div class="ttdeci">double octree_leaf_size_</div><div class="ttdoc">Size of octree leaves.</div><div class="ttdef"><b>Definition:</b> gfpfh.h:165</div></div>
<div class="ttc" id="aclasspcl_1_1_g_f_p_f_h_estimation_html_a94060e4d7270b442b4f6f533387aec32"><div class="ttname"><a href="classpcl_1_1_g_f_p_f_h_estimation.html#a94060e4d7270b442b4f6f533387aec32">pcl::GFPFHEstimation::getDominantLabel</a></div><div class="ttdeci">uint32_t getDominantLabel(const std::vector&lt; int &gt; &amp;indices)</div><div class="ttdoc">Return the dominant label of a set of points.</div><div class="ttdef"><b>Definition:</b> gfpfh.hpp:252</div></div>
<div class="ttc" id="aclasspcl_1_1_g_f_p_f_h_estimation_html_ab0839cd3f7500a485ff388aa139cbfda"><div class="ttname"><a href="classpcl_1_1_g_f_p_f_h_estimation.html#ab0839cd3f7500a485ff388aa139cbfda">pcl::GFPFHEstimation::compute</a></div><div class="ttdeci">void compute(PointCloudOut &amp;output)</div><div class="ttdoc">Overloaded computed method from pcl::Feature.</div><div class="ttdef"><b>Definition:</b> gfpfh.hpp:53</div></div>
<div class="ttc" id="aclasspcl_1_1_g_f_p_f_h_estimation_html_acae1d3e7ab2972be16b654f112d2ee68"><div class="ttname"><a href="classpcl_1_1_g_f_p_f_h_estimation.html#acae1d3e7ab2972be16b654f112d2ee68">pcl::GFPFHEstimation::computeMeanHistogram</a></div><div class="ttdeci">void computeMeanHistogram(const std::vector&lt; std::vector&lt; int &gt; &gt; &amp;histograms, std::vector&lt; float &gt; &amp;mean_histogram)</div><div class="ttdoc">Compute the mean histogram of the given set of histograms.</div><div class="ttdef"><b>Definition:</b> gfpfh.hpp:221</div></div>
<div class="ttc" id="aclasspcl_1_1_g_f_p_f_h_estimation_html_ad41dae97dfa0534c0cbfa1bcec63a71b"><div class="ttname"><a href="classpcl_1_1_g_f_p_f_h_estimation.html#ad41dae97dfa0534c0cbfa1bcec63a71b">pcl::GFPFHEstimation::computeHIKDistance</a></div><div class="ttdeci">float computeHIKDistance(const std::vector&lt; int &gt; &amp;histogram, const std::vector&lt; float &gt; &amp;mean_histogram)</div><div class="ttdoc">Return the Intersection Kernel distance between two histograms.</div><div class="ttdef"><b>Definition:</b> gfpfh.hpp:237</div></div>
<div class="ttc" id="aclasspcl_1_1_g_f_p_f_h_estimation_html_ad8022e150a41164f169149145a150923"><div class="ttname"><a href="classpcl_1_1_g_f_p_f_h_estimation.html#ad8022e150a41164f169149145a150923">pcl::GFPFHEstimation::GFPFHEstimation</a></div><div class="ttdeci">GFPFHEstimation()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> gfpfh.h:84</div></div>
<div class="ttc" id="aclasspcl_1_1_g_f_p_f_h_estimation_html_ae08b3ca8f6ef55dedc2b19ac983eeb0c"><div class="ttname"><a href="classpcl_1_1_g_f_p_f_h_estimation.html#ae08b3ca8f6ef55dedc2b19ac983eeb0c">pcl::GFPFHEstimation::computeDistanceHistogram</a></div><div class="ttdeci">void computeDistanceHistogram(const std::vector&lt; float &gt; &amp;distances, std::vector&lt; float &gt; &amp;histogram)</div><div class="ttdoc">Compute the binned histogram of distance values.</div><div class="ttdef"><b>Definition:</b> gfpfh.hpp:196</div></div>
<div class="ttc" id="aclasspcl_1_1_g_f_p_f_h_estimation_html_af6e8bbe13eea98d0facb65ea88d4ae46"><div class="ttname"><a href="classpcl_1_1_g_f_p_f_h_estimation.html#af6e8bbe13eea98d0facb65ea88d4ae46">pcl::GFPFHEstimation::getNumberOfClasses</a></div><div class="ttdeci">uint32_t getNumberOfClasses() const</div><div class="ttdoc">Return the number of different classes.</div><div class="ttdef"><b>Definition:</b> gfpfh.h:107</div></div>
<div class="ttc" id="aclasspcl_1_1_g_f_p_f_h_estimation_html_af85aca1a1bccc40396bd8f931c1cb05f"><div class="ttname"><a href="classpcl_1_1_g_f_p_f_h_estimation.html#af85aca1a1bccc40396bd8f931c1cb05f">pcl::GFPFHEstimation::setOctreeLeafSize</a></div><div class="ttdeci">void setOctreeLeafSize(double size)</div><div class="ttdoc">Set the size of the octree leaves.</div><div class="ttdef"><b>Definition:</b> gfpfh.h:95</div></div>
<div class="ttc" id="aclasspcl_1_1_g_f_p_f_h_estimation_html_afaf9aeee369296f62260178386cfcc11"><div class="ttname"><a href="classpcl_1_1_g_f_p_f_h_estimation.html#afaf9aeee369296f62260178386cfcc11">pcl::GFPFHEstimation::getOctreeLeafSize</a></div><div class="ttdeci">double getOctreeLeafSize()</div><div class="ttdoc">Get the sphere radius used for determining the neighbors.</div><div class="ttdef"><b>Definition:</b> gfpfh.h:99</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
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